WO2005107672A1 - Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci - Google Patents

Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci Download PDF

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Publication number
WO2005107672A1
WO2005107672A1 PCT/NL2005/000362 NL2005000362W WO2005107672A1 WO 2005107672 A1 WO2005107672 A1 WO 2005107672A1 NL 2005000362 W NL2005000362 W NL 2005000362W WO 2005107672 A1 WO2005107672 A1 WO 2005107672A1
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WO
WIPO (PCT)
Prior art keywords
wheelchair
controller
hand force
sensor
force sensor
Prior art date
Application number
PCT/NL2005/000362
Other languages
English (en)
Dutch (nl)
Inventor
Gijsbertus Franciscus Roovers
Bastiaan Andreas D'herripon
Original Assignee
Revab Ip B.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Revab Ip B.V. filed Critical Revab Ip B.V.
Priority to EP05745577A priority Critical patent/EP1750639A1/fr
Priority to US11/596,484 priority patent/US20070284845A1/en
Publication of WO2005107672A1 publication Critical patent/WO2005107672A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1081—Parts, details or accessories with shock absorbers or other suspension arrangements between frame and seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0269—System arrangements wherein the object is to detect the exact location of child or item using a navigation satellite system, e.g. GPS
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2205/00—General identification or selection means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat

Definitions

  • the invention relates to a wheelchair with drive support.
  • wheelchairs which are manually powered, either by the chair occupant driving the wheels with the aid of push rims, or by a person behind the chair pushing the chair via push bars.
  • wheelchairs that are equipped with motors providing the complete drive power and which are operated by the chair occupant with operating elements, for instance a joystick.
  • wheelchairs which are also provided with driving motors but whose driving motors provide only a part of the drive power, while the remaining part is provided by the chair occupant or the person pushing.
  • a drive system is built-in which can only be used in fixed configuration with a joystick or speed-control.
  • these wheelchairs have an accumulator set, a motor controller and an operating element. These parts are interconnected by wiring. This is disadvantageous for assembly, for maintenance and cleaning the wheelchair and for adapting the wheelchair to the desires of other users.
  • the entire drive and operating system is built-in in the wheel. This has the limitation that the system cannot be easily changed into a pressure force supported system or a system operated by the chair occupant himself by means of a joystick.
  • these chairs are used in institutes where it would be advantageous when they could be used by several people. This is possible when the wheelchairs can be easily adapted to the desires of various people.
  • Existing electric wheelchairs utilize a drive system built onto the chair.
  • Stops are arranged in the grips, with a spring resting against these stops.
  • the control signal thus generated by the grip is position-dependent of the grip.
  • the drive power of the chair depends on the compression of the springs resting against a stop, and on the related displacement of the potentiometer which produces the motor control signal as a result of the pushing or pulling movement.
  • a neutral zone exists depending on the preset bias of the spring.
  • the output of the sensor is Zero (0) when the spring rest with two ends against the stops, when the spring is compressed and is thus cleared from one of the two stops, a displacement of the potentiometer is effected so that a control signal is obtained.
  • a second embodiment of a hand force sensor is shown in US 3,225,853 of Norton (1962).
  • This embodiment shows a slideable, linear potentiometer to which the grip is attached.
  • the potentiometer regulates the motor speed, while a switch is operated for reversing the direction of revolution of the motor.
  • the grip is provided between two springs so that the control signal of the motor becomes proportional to the generated spring force and the displacement of the potentiometer slide occurring as a result thereof.
  • US 6,302,226B1 This system utilizes a sensor which converts, via a potentiometer, a hand force acting on the push rim into an electric control signal for the controller.
  • a wheelchair according to the invention is characterized by the features of claim 1.
  • the invention suggests a modular structure of the drive system and connecting of the components to the controller with plugs or in a wireless manner for instance via a bus system known from the field of electronics.
  • a bus system has the advantage that wiring required thereto can be of relatively simple design. If wireless components are utilized, they each contain a unique code so that no interference occurs with, for instance, other wheelchairs in the direct vicinity that are equipped with such a system.
  • a basic drive module comprises a battery set, a driving motor and a controller. Because of the magnitude of the electric currents these components are preferably directly interconnected.
  • Operating elements may for instance be a joystick and/or hand force sensors on the wheels and/or the push bars on the back of the chair and/or a suppression circuit.
  • the sensors transmit their control information to the controller via a signal wire, or in a wireless manner.
  • the controller has a transceiver with which the sensor is recognized and the sensor information is used for controlling the drive system.
  • the controller is designed such that the required information is stored in the basic unit for cooperation with different, preferably all, modular components.
  • a wheelchair can easily be altered by exchanging the operating elements, for instance by replacing a joystick sensor with hand force sensors on the push bars.
  • a wheelchair drive system which is suitable to be quickly adapted to the needs of different users.
  • the drive system comprises modular units such as a controller, driving motors, push force sensors (push force and push rim force), joystick operation and/or battery sets.
  • a motor drive system comprising a battery, controller and driving motors cooperates wirelessly with operating components.
  • the operating components are recognized via an identification code only by their own controller so that other wheelchairs in the vicinity are not activated.
  • One objective of the invention is to provide a wheelchair with a drive system suitable to be utilized in a simple and modular manner.
  • such a drive system has a modular structure, comprising a controller which can cooperate with different, target-group dependent components.
  • the controller can cooperate with different types of motors, with different battery sets, with different controlling elements and has provisions for different peripherals such as electric position adjusting elements for the seat and backrest of the wheelchair and their operating means, GPS system and wireless alarm function and position indicator, storage of personal and medical data of the owner, light, direction indicators, alarm lights, beepers for reversing and the like.
  • the controller can be provided with a receiver for wireless signals, and the controller is provided with the necessary analogous and/or digital inputs and outputs and the like.
  • the receiver can communicate with the different sensor modules via a number of channels. What can be prevented via the channel selection is that different wheelchairs operating in the direct vicinity experience interference due to a transmitter of another wheelchair.
  • a GPS system and alarm function in the controller is of particular advantage because, especially in the case of a self- powered chair, in case of emergency, the chair can be rapidly localized by means of the GPS and the alarm function and the position indicator, and due to the personal data, emergency services can offer the specific help more rapidly.
  • the modular components to be coupled cooperate with the controller, such as hand force sensors in the grips of the push bars and of push rims on the wheels and of a joystick operation of the electro -drive.
  • force sensors of the push rims on the wheels it is advantageous to equip these with a wireless signal transmission because they are mounted on the revolving part of the wheel and the motors and controller are placed on the chair.
  • the modular components can have a transmitter with an identification code so that the controller can recognize the type of control and can set the associated parameters, for instance for speed limitation or the amplification factor belonging to a particular sensor or user of the wheelchair.
  • the structure of the wheelchair becomes very simple, vulnerable and interfering wire connections can be omitted and the sensor can be removed in a simple manner for conversion or to be cleaned or renovated.
  • a control characteristic can, for instance, be adapted by selecting different programs with preset parameters.
  • push force sensors in the grips are utilized, and a relatively small, inexpensive and light battery set.
  • force sensors on the push rims are utilized which control the driving motors.
  • a joystick drive and a large battery set are utilized because, as a rule, for an independently moving chair, a greater range and capacity are required than for a push (push rim) force supported version.
  • a push force supported version preferably, a push force sensor is used which is maintenance free, robust and durable and inexpensive, having the entire range to measure both push force and pull force.
  • the system can operate with a push force sensor, which controls one or more motors, In a push force supported chair, preferably, two push force sensors are used and two motors, controlled separately from each other which are each placed on one side of the chair.
  • the push force sensor in the left-hand grip controls the left- hand motor, and the right-hand grip controls the right-hand motor.
  • the motor When a push force is applied, the motor is powered in forward direction, when a pull force is applied, in a backward direction of revolution.
  • control can also take place depending on both the absolute push forces and the mutual difference.
  • the chair intuitively follows the objectives of the person pushing, and with the chair, corners will be easier to negotiate.
  • the same method of control can also be used for a push rim- supported wheelchair wherein the chair occupant himself provides, with his arms, the primary drive power.
  • a sensor according to the invention is preferably based on force measurement by means of strain gauges. These are for instance placed on a force measurement element fixedly disposed in an inside tube.
  • the grip slides over the inside tube and applies a push force to the sensor via a biased spring set.
  • the point of pressure of the grip against the spring is preferably adjacent the middle of the spring so that in push and pull direction the same deflection and control signal is possible. This is advantageous but can also be carried out with the point of engagement not being in the middle of the spring, so that a different characteristic occurs in push and pull direction.
  • the advantage of this manner of construction is that there is no clearance between grip and the sensor, giving the user a sense of robustness and quality.
  • the deflection of the sensor under force is extremely slight, typically some tens of micrometers.
  • the grip is bound with mechanical stops. As springs have been placed between the force sensor and the grip, with these stops the maximum force on the sensor is limited.
  • the grip When great push or pull forces are applied, the grip is bound from deflecting further against stops on the inside tube and thus prevents the sensor from being overloaded. Due to these mechanic stops, the sensor can be designed such that great sensitivity is obtained without there being the danger of overload and, possibly, the sensor bending plastically thus rendering it unusable.
  • the deflection of the grip is defined by the spring used between the grip and the sensor and the deflection allowed for the grip. A deflection of 1 to 2 mm in pushing and pulling direction is an advantageous compromise between the sensed firmness and the simple construction with tolerances which can be realized in a simple manner.
  • the characteristic of the sensor can be adapted by the controller for adjusting the driving characteristic to the desires of the users and can, for instance, be set to be energy-conserving or to give a strong support.
  • the threshold value is entered electronically or in software which is to be exceeded by the output of the sensor before a control of the supporting force is effected.
  • a damping can be effected on the control signal, and the characteristic of the response can be determined via progressive, degressive or linear control characteristic.
  • the controller can store several predetermined characteristics which can be selected and activated by the user via a menu.
  • Figs. 1 A - C show, in side view, three embodiments of a wheelchair according to the invention
  • Figs. 2A - C schematically show, in top plan view, an undercarriage of the wheelchairs according to Figs. 1A - C with drive system
  • Fig. 3 shows, in perspective view, a hand force sensor according to the invention
  • Fig. 4 shows a hand force sensor according to Fig. 3, in longitudinal cross-section
  • Fig. 5 shows the sensor output of the hand force sensor
  • Fig. 6 shows an example of the sensor output with characteristic adapted by the controller
  • Fig. 7 shows a block diagram for connection of different modules wherein the correct driving parameters are set via recognition of the type of sensor
  • Figs. 1 A - C show, in side view, three embodiments of a wheelchair according to the invention
  • Figs. 2A - C schematically show, in top plan view, an undercarriage of the wheelchairs according to Figs. 1A - C with drive system
  • Figs. 8 - 10 show a sensor according to Figs. 3, 4 and 11 in cross- sectional view, in three positions;
  • Fig. 11 shows, in perspective view, a wheel for a wheelchair according to the invention, with a hand force sensor;
  • Fig. 12 shows, in perspective view, a wheel for a wheelchair according to the invention, with a hand force sensor.
  • identical or corresponding parts have identical or corresponding reference numerals.
  • the embodiments are only shown by way of example and are only schematically represented. Combinations of parts of exemplary embodiments shown are also understood to fall within the inventive concept.
  • many variations are possible within the framework of the invention as outlined by the claims.
  • Fig. 11 shows, in perspective view, a wheel for a wheelchair according to the invention, with a hand force sensor
  • Fig. 12 shows, in perspective view, a wheel for a wheelchair according to the invention, with a hand force sensor.
  • the wheelchair comprises a frame 3 with two relatively small front wheels 4 and two relatively large rear wheels 5. Via a pivot 6 extending approximately horizontally, located adjacent the back of the knee of a user seated in the wheelchair 1, the frame 3 is connected to a seat part 7.
  • the seat part 7 comprises a seat 8 with feet rest 60, a back rest 9 and two arm rests 10. Behind the back rest 9, two push bars 11 are provided, terminating in grips 12 with which the wheelchair can be pushed forward by an assistant.
  • a gas spring 13 is provided, resting on the frame 3 and providing a cushioned spring characteristic for the seat part 7.
  • the frame bears a basic component 14 of a drive system 15 according to the invention (Fig. 2), comprising a battery (set) 16, a drive unit 17 and a controller 18.
  • the drive unit 17 comprises one or, preferably, two electric motors 2 for driving the wheels.
  • the battery (set) 16 provides the required voltage.
  • the controller 18 is provided with a series of coupling means 19 as will be elucidated further, for system components such as operating means 20 and sensors 21 which can be coupled to the coupling means 19 via plug connections and/or transmitter/receiver systems.
  • the controller 18 is provided with at least one algorithm and memory means. The algorithm is designed to recognize coupled system components such as operating elements
  • control profiles can indicate, for instance, a relation between a change in an input signal from a sensor, or differences in the magnitude of such signals and a change in power supplied to the or a motor. Also, for instance, threshold values for activation can be set.
  • a hand force sensor is mounted on a wheel 5 as will be further elucidated with reference to Fig. 11. This sensor is mounted on or near, or is a part of, a wheel 5 and/or a push rim 24 mounted thereon.
  • the algorithm mentioned can be set such that a higher signal strength and hence a greater apphed force leads to a higher voltage supplied to the or a motor.
  • This can be either a proportional relation or another preselected, for instance exponential, reversely proportional relation or the like.
  • this can be set per user, for instance in the memory means, as can the absolute relationship between the apphed force and, for instance, power and, hence, driving speed.
  • both push rims 24 are equipped with a sensor 21, so that steering of the wheelchair by the sensors can be regulated and supported too.
  • a second embodiment of a wheelchair 1 according to the invention is shown, wherein however a hand force sensor 21 is provided on each of the push bars 11, at least grips 12.
  • a third embodiment of a wheelchair 1 according to the invention is shown, wherein, however, the sensors have been replaced with a system component, in particular a control element 21 in the form of a joystick 21 provided on an arm rest 10 and which is detachably and/or wirelessly coupled to the controller 18.
  • FIG. 3 and 4 show, in perspective view and cross-sectional longitudinal view, respectively, a sensor 21 according to the invention in an advantageous embodiment.
  • the sensor 21 can be used as a hand force sensor.
  • the hand force sensor 21 comprises three main elements, i.e. a part of a tube 25 of the push bar 11 as frame element, a sensor body 26 attached with pins 27 in the tube 25, and a sleeve 28 serving as hand grip 12.
  • the sleeve 28 can slide over the tube 25 and is connected to a spring element 30 by means of a pin 29. Between the tube 25 and the sleeve 28 a sliding bearings 31 can be provided.
  • the sensor body 26 Via a cut out profile 32, the sensor body 26 is divided into a first part, to be called a stationary part 33, two resilient bending bars 34 and a second part to be called spring holder part 35.
  • a spring opening 39 is provided in which the spring element 30 is placed.
  • springs 40 are provided between the spring element 30 and the spring holder part 35, at two opposite sides of the spring element 30, springs 40 are provided.
  • the sleeve 28 is further provided with a pin 41 which fits into a stop opening 42 in the tube 25, and which bounds the furthest admissible positions of the sleeve as will be further shown in Figs. 8 - 10.
  • At least one strain gauge 43 is provided on the bending bar 34.
  • the sensor body 26 is fixedly connected, by the lower stationary part 33, with pins 27, to the tube 25, while the spring element 30 is fixedly connected by the pin 29 to the sleeve 28, which pin reaches through a slotted hole in the tube 25.
  • the spring element 30 will move relative to the tube 25 in the same direction P. This will cause the spring 40 leading in the direction of movement P to be slightly compressed, the spring located at the opposite side will be lengthened or maintain the same length.
  • the spring holder part 35 will move along relative to the stationary part 33 thereby bending the bending bars 34.
  • the geometry of the resilient bending bars 34 is selected such that when the spring holder part 35 moves, the bending bars 34 are bent in an S- shape so that at a lower part 37 of a bending bar 34 proximal to the stationary part 33, a butt is formed and, at the opposite, upper part 38 of the same bending bar 34 at the outside, an elongation is formed. With the other bending bar 34, the effect will be reversed. Or vice versa, depending on the direction of movement P.
  • strain gauges 43 are provided which are sensitive to the butt or the elongation, respectively, and which, as a result thereof, exhibit a proportional resistance change.
  • the strain gauges 43 are included in a Wheatstone bridge and with this, an electronic signal can be obtained which is proportional to the deformation of the bending bar 43.
  • the half Wheatstone bridge is complemented by two resistances, when the sensor body is provided with strain gauges 43 on both bending bars, these can be included in a complete Wheatstone bridge. This has as an advantage that the sensitivity is enhanced.
  • a hand force F on the sleeve 28 is transmitted via pin 29 to the spring element 30.
  • the spring element 30 is located in the spring opening 39 and, via the springs 40, applies the hand force F to the spring holder part 35, causing an elastic deformation of the bending bars 34.
  • the rigidity of the spring is 40 is selected such that the occurring displacement of the sleeve 28, with the maximum desired ergonomic hand force F for propelling the wheelchair 1, causes a spring force which, in the sensor body 26, causes the bending bars 34 to bend, which bending produces an electric signal proportional to the hand force F that can be used for controlling the traction motors 2 of the drive unit 17.
  • the hand force F wants to push the chair forward in a driving direction R (see Fig. 1)
  • an electric signal is delivered controlling the electric motor(s) 2 such that a drive force is generated which supports the hand force F.
  • the sensor 21 delivers a reverse signal, causing the direction of revolution of the traction motors (s) to reverse and, again delivering a drive force which supports the pulling hand force.
  • Figs. 8 - 10 three positions of a sensor 21 are shown, in cross- sectional view.
  • the sensor 21 is shown in a neutral position.
  • the spring element 30 is in the middle of the spring opening 39 and the springs 40 have a similar, neutral position.
  • the spring holder part 35 is straight above the stationary part 33, and the bending bars 34 have been brought into a neutral, straight position.
  • the sensor output is given, for instance as electric voltage, optionally amplified by a suitable amplifier. From zero point O upwards, for instance, a positive voltage is given, downward a negative voltage.
  • the force is represented, on the right hand side of the zero point O as a push force, i.e. a force F in the driving direction R, on the left hand side a pull force F, i.e. opposite to the driving direction R.
  • the relation between the sensor output and the force F is represented as a linear relation, represented by the line L.
  • a push rim has been mounted to the wheels of the chair, with a deformable bending bar, in a similar manner, a control signal proportional to the hand force is obtained.
  • a push rim 24 is provided which is pivotally attached to the wheel axis 50 or driving motor. This pivotal movement bears on the force sensor 21 which operates in a similar manner as the hand force sensor on the pushing bars as shown and described in Figs. 3 and 4, i.e.
  • a stationary part 33 is attached to a spoke 52 of the wheel 5, and the pin 29 is connected to a spoke 53 of the push rim such that a relative movement of the two spokes can be obtained and can be detected and can be converted into a related electric signal.
  • a push rim which is pivotally bearing mounted onto a hub motor 54 and, via a coupling pin 29, is connected to the force sensor 21.
  • the force sensor 21 in this embodiment is preferably equipped with a wireless signal transmission via a transmitter/receiver which transmits the hand force signal on the push rim 24 to the controller 18.
  • the push rim 24 can be connected via a fixed axis to the wheel 25, while on the axis 50 at least one strain gauge 43 is provided with which the torsion in the axis 50 is measured, as measure for the hand force apphed to the push rim 24.
  • the push rim 24 can be connected to the wheel 5 via a number of resilient elements, for instance leaf springs, and a sensor 21, as shown in Fig. 12.
  • the resilient elements 72 have a rigidity smaller than that of the sensor, for instance 90% or less, more in particular less than 50% and, preferably, between 5 and 15%, for instance approximately 10% of the rigidity of the sensor 21 in direction of rotation.
  • strain gauges 43 are provided on the sensor 21 so that bending in the sensor in the direction of rotation of the wheel 5 can be measured, while, as a result of the relatively rigid sensor 21, the push rim 24 will virtually not move relative to the wheel 5.
  • FIG. 7 schematically, a block diagram of a drive system 15 of a wheelchair 1 according to the invention is shown, comprising the basic component 14 and a series of sensors 21 and an operating element 20, as well as other electric and/or electronic components as will be further elucidated.
  • the controller 18 is connected to a coupling means 19A, in the embodiment shown in the form of a transmitter/receiver, with an electronic encoding 67.
  • a second coupling means 19B again in the form of a transmitter/receiver is provided with a second electronic encoding 68, compatible with the electronic encoding 67, so that the two coupling means 19A and 19B can only communicate with each other in a wireless manner.
  • blue tooth uses or such systems can be considered.
  • the second coupling means 19B is provided with a number of plugs 19C that can be coupled to female plugs 19D of different operating systems 20, sensors 21 and/or the further electronic or electric components mentioned.
  • these female coupling means 19D can also be designed as the second coupling means 19B, while the plugs mentioned are omitted.
  • each female coupling means 19D will be provided with an electronic encoding 69, specific to the respective operating means 20, the sensor 21 and/or the electronic/electric component and to the first coupling means 19A, at least the encoding 67.
  • a joystick 22 is provided, as example of sensors 21 a push force sensor to be placed on a grip 12 and a hand force sensor to be placed on a push rim 24.
  • a GPS unit 61 is shown, which is suitable for transmitting the position of the wheelchair 1.
  • three motors 62, 63, 64 are shown, for adjusting the leg rest, the back rest and the seat of the wheelchair, respectively. These motors can be controlled via, for instance, a second controller 65 so that for a user, each time, a suitable position can be set.
  • a data base 66 is provided, in which data relating to the user can be stored, such as medical data and data relating to the use of the wheelchair, for instance sitting settings, maximum allowable speeds, driving behaviour and the like.
  • an alarm 70 is provided with which automatically or on the initiative of a user, an alarm signal can be produced, for instance to an operator, if a situation has arisen which is undesirable to the user.
  • a GPS module 61 is coupled to the controller 18, then, the position of the user can be directly transmitted.
  • an algorithm is included with which a suitable control of the motors can be set, depending on the selection of the components coupled thereto.
  • a database is included with the different encodings 67,68, 69, so that each individual component can be directly recognized and the controller can be adapted thereto.
  • plug connections can be used too for coupling the different components to the controller 18.
  • wireless communication offers the advantage of improved simplicity and renders the necessity of using, for instance, slide couplings and the like superfluous.
  • a spring- loaded switch 71 is provided which can be indicated as a suppression switch.
  • the switch 71 via the controller 18, at least temporarily, the function of at least one of the sensors 21 and/or operating means 20, such as the joystick 22, can be taken over, at least overruled.
  • the switch 71 By pushing the switch 71, for instance the or each motor 2 can be driven at a constant speed, with a constant power or a constant torque, so that, for instance, passing obstacles with the wheelchair can be simplified.
  • the fact is that if this were done (exclusively) by applying a force F to the grips 12 and/or the push rim 24, the drawback would arise that with this, the sensors 21 are operated, thus causing an undesired drive characteristic.
  • the motor is powered and this effect is avoided, so that the front wheels can simply be brought over obstacles such as a threshold, for instance by tilting the back of the wheelchair slightly downwards.
  • the switch 71 can for instance be placed next to a wheel 5 as shown in Fig. 1A, near the grips 12 as shown in Fig. IB or near an arm rest 10 as shown in Fig. 1C.
  • these switches 71 can be provided or they can be provided on different locations.
  • a wheelchair according to the invention is at least partly designed to be modular, so that it can be relatively easily adjusted to different users.
  • the characteristics of the controller can be set at wish and are preferably adjustable with the aid of for instance a computer, from a database, so that for each individual user a characteristic can be set, which, moreover, can simply be designed to be self-learning.

Abstract

L'invention concerne une chaise roulante comprenant un système d'entraînement présentant une unité de commande, une source d'énergie et des moteurs d'entraînement, ainsi que des capteurs pouvant être accouplés à ceux-ci, aux fins de mesure d'un signal de commande destiné aux moteurs entraînement. L'invention concerne également un capteur de force manuelle comprenant une partie de capteur sensible à la force et un système de ressort transmettant, pendant l'utilisation, une force manuelle, à partir d'un élément de prise ou d'une roue sur laquelle la force manuelle est appliquée, au capteur de force.
PCT/NL2005/000362 2004-05-12 2005-05-12 Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci WO2005107672A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP05745577A EP1750639A1 (fr) 2004-05-12 2005-05-12 Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci
US11/596,484 US20070284845A1 (en) 2004-05-12 2005-05-12 Wheel Chair with Drive Support and Force Sensor for Use Therewith

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1026178A NL1026178C2 (nl) 2004-05-12 2004-05-12 Rolstoel met aandrijfondersteuning en krachtsensor voor gebruik daarbij.
NL1026178 2004-05-12

Publications (1)

Publication Number Publication Date
WO2005107672A1 true WO2005107672A1 (fr) 2005-11-17

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PCT/NL2005/000362 WO2005107672A1 (fr) 2004-05-12 2005-05-12 Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci

Country Status (4)

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US (1) US20070284845A1 (fr)
EP (1) EP1750639A1 (fr)
NL (1) NL1026178C2 (fr)
WO (1) WO2005107672A1 (fr)

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EP2062559A1 (fr) * 2007-11-20 2009-05-27 Gerd Kaspar Déambulateur doté d'une unité de communication
EP1772128B1 (fr) * 2005-10-10 2009-11-11 Meyra Wilhelm Meyer Gmbh & Co. Kg Fauteuil roulant avec un dispositif pour maintenir une vitesse constante
GB2479555A (en) * 2010-04-14 2011-10-19 Andrew John Freeman Power assisted wheelchair with force measuring handgrips and control means to determine required drive
CN115219090A (zh) * 2022-09-21 2022-10-21 广东工业大学 一种助行轮椅的轮上牵引力检验设备
US11564854B2 (en) * 2018-07-11 2023-01-31 University of Pittsburgh—of the Commonwealth System of Higher Education Wheelchair pressure ulcer risk management coaching system and methodology

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US20120067662A1 (en) * 2010-09-22 2012-03-22 Ulrich Alber Gmbh Drive assistance device, wheelchair and method for determination of the manual driving force of a wheelchair driver
DE102010037710B4 (de) * 2010-09-22 2016-03-17 Alber Gmbh Hilfsantriebsvorrichtung, Rollstuhl und Verfahren zur Ermittlung von physischen Leistungsdaten eines Rollstuhlfahrers
US9259369B2 (en) 2012-09-18 2016-02-16 Stryker Corporation Powered patient support apparatus
US10004651B2 (en) 2012-09-18 2018-06-26 Stryker Corporation Patient support apparatus
DE102012109932B4 (de) * 2012-10-18 2016-02-25 Aat Alber Antriebstechnik Gmbh Kleinfahrzeug, insbesondere Rollstuhl
JP6104079B2 (ja) * 2013-07-05 2017-03-29 ヤマハ発動機株式会社 補助動力付車椅子、補助動力付車椅子の設定方法
US11294415B2 (en) 2013-12-17 2022-04-05 Red Milawa Pty Ltd Device and system for controlling a transport vehicle
US9597241B2 (en) 2014-06-20 2017-03-21 The Regents Of The University Of California Lever-operated wheelchair
US10568792B2 (en) 2015-10-28 2020-02-25 Stryker Corporation Systems and methods for facilitating movement of a patient transport apparatus
CN106681326B (zh) * 2017-01-04 2020-10-30 京东方科技集团股份有限公司 座椅、控制座椅运动的方法和用于座椅的运动控制系统
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FR3078885A1 (fr) * 2018-03-15 2019-09-20 Jean-Pierre Aubert Fauteuil roulant
WO2020097619A1 (fr) * 2018-11-09 2020-05-14 Lemon Life Technologies Llc Appareil intelligent pour dispositifs manuels d'assistance à la mobilité
WO2023177987A1 (fr) * 2022-03-16 2023-09-21 Roda Futura, Llc Assistance électrique universelle pour fauteuil roulant

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EP1772128B1 (fr) * 2005-10-10 2009-11-11 Meyra Wilhelm Meyer Gmbh & Co. Kg Fauteuil roulant avec un dispositif pour maintenir une vitesse constante
EP1970037A1 (fr) * 2007-03-12 2008-09-17 Wandeler Konrad Véhicule de transport d'un fauteuil roulant
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GB2479555A (en) * 2010-04-14 2011-10-19 Andrew John Freeman Power assisted wheelchair with force measuring handgrips and control means to determine required drive
US11564854B2 (en) * 2018-07-11 2023-01-31 University of Pittsburgh—of the Commonwealth System of Higher Education Wheelchair pressure ulcer risk management coaching system and methodology
CN115219090A (zh) * 2022-09-21 2022-10-21 广东工业大学 一种助行轮椅的轮上牵引力检验设备
CN115219090B (zh) * 2022-09-21 2022-12-09 广东工业大学 一种助行轮椅的轮上牵引力检验设备

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EP1750639A1 (fr) 2007-02-14
US20070284845A1 (en) 2007-12-13
NL1026178C2 (nl) 2005-11-15

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